pyrobosim.planning.pddlstream.primitives.get_pick_place_cost

pyrobosim.planning.pddlstream.primitives.get_pick_place_cost(loc: ObjectSpawn, obj: Object) → float

Estimates a dummy pick / place cost for a specific location / object combination, which a constant value plus the height of the location and half height of the object.

Parameters:

• loc – Location where pick / place action occurs.

• obj – Object that is manipulated.

Returns:

Cost of performing action.